\hypertarget{_poly_traj_gen_8cpp}{}\section{src/\+Poly\+Traj\+Gen.cpp File Reference}
\label{_poly_traj_gen_8cpp}\index{src/\+Poly\+Traj\+Gen.\+cpp@{src/\+Poly\+Traj\+Gen.\+cpp}}
{\ttfamily \#include \char`\"{}traj\+\_\+gen/\+Poly\+Traj\+Gen.\+h\char`\"{}}\\*
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\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8cpp_a5a2e38cc8bf6ae9ab0395994b68e52ae}{time\+\_\+scailing\+\_\+mat} (double dt, int poly\+\_\+order)
\item 
Vector\+Xd \hyperlink{_poly_traj_gen_8cpp_a5344e44ce223789d62117ae55c9a5ac5}{t\+\_\+vec} (int poly\+\_\+order, double t, int n\+\_\+diff)
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8cpp_a0b792e87b38c7882b087726a82eaa72e}{integral\+\_\+jerk\+\_\+squared} (int poly\+\_\+order)
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8cpp_a98c8e48d65c22d6da6b6b82242586f15}{integral\+\_\+snap\+\_\+squared} (int poly\+\_\+order)
\item 
void \hyperlink{_poly_traj_gen_8cpp_a2fbc0abee53f736fe5f5d2a5c04ec723}{row\+\_\+append} (Matrix\+Xd \&mat, Matrix\+Xd mat\+\_\+sub)
\item 
int \hyperlink{_poly_traj_gen_8cpp_a17e17da0f42201d595257679c8ae6170}{find\+\_\+spline\+\_\+interval} (const vector$<$ double $>$ \&ts, double t\+\_\+eval)
\end{DoxyCompactItemize}


\subsection{Function Documentation}
\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!find\+\_\+spline\+\_\+interval@{find\+\_\+spline\+\_\+interval}}
\index{find\+\_\+spline\+\_\+interval@{find\+\_\+spline\+\_\+interval}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{find\+\_\+spline\+\_\+interval(const vector$<$ double $>$ \&ts, double t\+\_\+eval)}{find_spline_interval(const vector< double > &ts, double t_eval)}}]{\setlength{\rightskip}{0pt plus 5cm}int find\+\_\+spline\+\_\+interval (
\begin{DoxyParamCaption}
\item[{const vector$<$ double $>$ \&}]{ts, }
\item[{double}]{t\+\_\+eval}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a17e17da0f42201d595257679c8ae6170}{}\label{_poly_traj_gen_8cpp_a17e17da0f42201d595257679c8ae6170}


Definition at line 855 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!integral\+\_\+jerk\+\_\+squared@{integral\+\_\+jerk\+\_\+squared}}
\index{integral\+\_\+jerk\+\_\+squared@{integral\+\_\+jerk\+\_\+squared}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{integral\+\_\+jerk\+\_\+squared(int poly\+\_\+order)}{integral_jerk_squared(int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd integral\+\_\+jerk\+\_\+squared (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a0b792e87b38c7882b087726a82eaa72e}{}\label{_poly_traj_gen_8cpp_a0b792e87b38c7882b087726a82eaa72e}


Definition at line 812 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!integral\+\_\+snap\+\_\+squared@{integral\+\_\+snap\+\_\+squared}}
\index{integral\+\_\+snap\+\_\+squared@{integral\+\_\+snap\+\_\+squared}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{integral\+\_\+snap\+\_\+squared(int poly\+\_\+order)}{integral_snap_squared(int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd integral\+\_\+snap\+\_\+squared (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a98c8e48d65c22d6da6b6b82242586f15}{}\label{_poly_traj_gen_8cpp_a98c8e48d65c22d6da6b6b82242586f15}


Definition at line 829 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!row\+\_\+append@{row\+\_\+append}}
\index{row\+\_\+append@{row\+\_\+append}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{row\+\_\+append(\+Matrix\+Xd \&mat, Matrix\+Xd mat\+\_\+sub)}{row_append(MatrixXd &mat, MatrixXd mat_sub)}}]{\setlength{\rightskip}{0pt plus 5cm}void row\+\_\+append (
\begin{DoxyParamCaption}
\item[{Matrix\+Xd \&}]{mat, }
\item[{Matrix\+Xd}]{mat\+\_\+sub}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a2fbc0abee53f736fe5f5d2a5c04ec723}{}\label{_poly_traj_gen_8cpp_a2fbc0abee53f736fe5f5d2a5c04ec723}


Definition at line 846 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!t\+\_\+vec@{t\+\_\+vec}}
\index{t\+\_\+vec@{t\+\_\+vec}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{t\+\_\+vec(int poly\+\_\+order, double t, int n\+\_\+diff)}{t_vec(int poly_order, double t, int n_diff)}}]{\setlength{\rightskip}{0pt plus 5cm}Vector\+Xd t\+\_\+vec (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order, }
\item[{double}]{time, }
\item[{int}]{n\+\_\+diff}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a5344e44ce223789d62117ae55c9a5ac5}{}\label{_poly_traj_gen_8cpp_a5344e44ce223789d62117ae55c9a5ac5}
Lower level routine 

Definition at line 784 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}!time\+\_\+scailing\+\_\+mat@{time\+\_\+scailing\+\_\+mat}}
\index{time\+\_\+scailing\+\_\+mat@{time\+\_\+scailing\+\_\+mat}!Poly\+Traj\+Gen.\+cpp@{Poly\+Traj\+Gen.\+cpp}}
\subsubsection[{\texorpdfstring{time\+\_\+scailing\+\_\+mat(double dt, int poly\+\_\+order)}{time_scailing_mat(double dt, int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd time\+\_\+scailing\+\_\+mat (
\begin{DoxyParamCaption}
\item[{double}]{dt, }
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8cpp_a5a2e38cc8bf6ae9ab0395994b68e52ae}{}\label{_poly_traj_gen_8cpp_a5a2e38cc8bf6ae9ab0395994b68e52ae}


Definition at line 774 of file Poly\+Traj\+Gen.\+cpp.



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